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dotmod.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
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* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once
#include <vector>
#include <cstddef>
#include <pcl/pcl_macros.h>
#include <pcl/recognition/dot_modality.h>
#include <pcl/recognition/dense_quantized_multi_mod_template.h>
#include <pcl/recognition/mask_map.h>
#include <pcl/recognition/region_xy.h>
namespace pcl
{
struct DOTMODDetection
{
std::size_t bin_x;
std::size_t bin_y;
std::size_t template_id;
float score;
};
/**
* \brief Template matching using the DOTMOD approach.
* \author Stefan Holzer, Stefan Hinterstoisser
* \ingroup recognition
*/
class PCL_EXPORTS DOTMOD
{
public:
/** \brief Constructor */
DOTMOD (std::size_t template_width,
std::size_t template_height);
/** \brief Destructor */
virtual ~DOTMOD ();
/** \brief Creates a template from the specified data and adds it to the matching queue.
* \param modalities
* \param masks
* \param template_anker_x
* \param template_anker_y
* \param region
*/
std::size_t
createAndAddTemplate (const std::vector<DOTModality*> & modalities,
const std::vector<MaskMap*> & masks,
std::size_t template_anker_x,
std::size_t template_anker_y,
const RegionXY & region);
void
detectTemplates (const std::vector<DOTModality*> & modalities,
float template_response_threshold,
std::vector<DOTMODDetection> & detections,
const std::size_t bin_size) const;
inline const DenseQuantizedMultiModTemplate &
getTemplate (std::size_t template_id) const
{
return (templates_[template_id]);
}
inline std::size_t
getNumOfTemplates ()
{
return (templates_.size ());
}
void
saveTemplates (const char * file_name) const;
void
loadTemplates (const char * file_name);
void
serialize (std::ostream & stream) const;
void
deserialize (std::istream & stream);
private:
/** template width */
std::size_t template_width_;
/** template height */
std::size_t template_height_;
/** template storage */
std::vector<DenseQuantizedMultiModTemplate> templates_;
};
}
pcl::DOTMOD::loadTemplates
void loadTemplates(const char *file_name)
pcl::DOTMOD::DOTMOD
DOTMOD(std::size_t template_width, std::size_t template_height)
Constructor.
pcl::DOTMOD::getNumOfTemplates
std::size_t getNumOfTemplates()
Definition dotmod.h:101
pcl::DOTMOD::deserialize
void deserialize(std::istream &stream)
pcl::DOTMOD::detectTemplates
void detectTemplates(const std::vector< DOTModality * > &modalities, float template_response_threshold, std::vector< DOTMODDetection > &detections, const std::size_t bin_size) const
pcl::DOTMOD::serialize
void serialize(std::ostream &stream) const
pcl::DOTMOD::createAndAddTemplate
std::size_t createAndAddTemplate(const std::vector< DOTModality * > &modalities, const std::vector< MaskMap * > &masks, std::size_t template_anker_x, std::size_t template_anker_y, const RegionXY &region)
Creates a template from the specified data and adds it to the matching queue.
pcl::DOTMOD::saveTemplates
void saveTemplates(const char *file_name) const
pcl::DOTMOD::~DOTMOD
virtual ~DOTMOD()
Destructor.
pcl::DOTMOD::getTemplate
const DenseQuantizedMultiModTemplate & getTemplate(std::size_t template_id) const
Definition dotmod.h:95
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl::DOTMODDetection
Definition dotmod.h:52
pcl::DOTMODDetection::template_id
std::size_t template_id
Definition dotmod.h:55
pcl::DOTMODDetection::bin_y
std::size_t bin_y
Definition dotmod.h:54
pcl::DOTMODDetection::bin_x
std::size_t bin_x
Definition dotmod.h:53
pcl::DOTMODDetection::score
float score
Definition dotmod.h:56
pcl::DenseQuantizedMultiModTemplate
Definition dense_quantized_multi_mod_template.h:78
pcl::RegionXY
Defines a region in XY-space.
Definition region_xy.h:82